This paper is concerned with information structures used in rigid formations of autonomous agents that have leaderfollower architecture. The focus of this paper is on sensor/network topologies to secure control of rigidity. We extend our previous approach for formations with symmetric neighbor relations to include formations with leader-follower architecture. Necessary and sufficient conditions...

Multi-agent formations have been recently the subject of many studies. An important operational challenge, largely unaddressed in the literature, is to ensure that functionality of the formation is retained should agents be lost through misadventure, mission reassignment, and so on. In the context of sensor networks, it is also important to allow for the loss of multiple sensors as the low qual...

This paper presents a method for control of formations of Unmanned Aerial Vehicles (UAVs) in urban environments with several obstacles. Therefore the trajectories for each UAV are planned using mixed integer quadratic programming (MIQP) to describe a minimization problem. The result of this minimization problem then characterizes a collision free trajectory for each UAV using the commanded form...

Grupi and Kashkan marl formations comprise a considerable part of Zagros region. These formations have a considerable erodibility and sedimentation potential because of their special geological and mineralogical characteristics. The objective of this study was to compare the erosion and sediment yield of Kashkan and Grupi formations in Merk watershed located in southeast Kermanshah, using the M...

groundwater quality characteristics are affected by lithology and geological structure of aquifer formations. this research has studied the groundwater chemical quality of the upper aji-chai basin with regard to different geological formations. using pie and piper diagrams, the researchers analyzed hydro-chemical elements of 47 sample groundwater resources. after determining water type of sampl...

‘Slamsex’ has emerged in gay vernacular recent years to denote a particular way of taking drugs and kind sex. Slamming refers this context the practice injecting – typically crystal methamphetamine intravenously. To pair ‘slamming’ with ‘sex’ is propose that mode drug administration constitutive sex relatively novel idea deserves some unpacking. What does it mean make route definitional delinea...